typedef struct map_Square
{
    // 每个点的名字
    const char* point_name;
    // 所有节点类型
    u8 nodes_class;
    // 点之间的速度对应的距离
    float P_distance[10];
    // 建议的速度 厘米/s
    short int advice_speed[10];
    // 实际位置坐标
    float location_x_y[2];
    // 正在访问的数,如果是2读节点之间的距离、建议速度，1读节点序号、实际位置坐标
    u8 isvisiting_msg;
    //该信息点是否检测门 或者该节点不能通行
    u8 isVisited_or_check_door;
    // 跳跃
    u8 dump[2];
} map_Square_t;

// 第 0列
  static const map_Square_t map_00_00 = {"shan1"           ,zhudian  ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, {-1.93 , 0.00 } ,  nodes____ ,0 ,{ 0 , 0}};
//static const map_Square_t map_01_00 = {                  ,         ,{     ,     ,     ,     ,     ,     ,     ,     ,     ,     ,}, {     ,     ,     ,     ,     ,     ,     ,     ,     ,     ,}, {      ,      } ,            ,  ,{   ,  }};
  static const map_Square_t map_02_00 = {"QS_pingtai1"     ,pingtai  ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } ,  nodes____ ,0 ,{ 0 , 0}};
  static const map_Square_t map_03_00 = {"msg"             ,xinxi__  ,{ 0.40, 0.28, 0.10, 0.10, 0.30, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   75,  158,  166,  158,   75,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } ,  msg_point ,0 ,{ 1 , 0}};


//a星算法地图，8为道路，9为墙
static short int Astart_map[ROWS][COLS] = {
{8, 9, 9, 9, 8, 9, 9, 9, 9, 9, 9, 9, 8, 9, 9, 9, 9, 9, 8, 9, },
{9, 8, 9, 9, 8, 9, 9, 9, 9, 9, 9, 9, 8, 9, 9, 9, 9, 9, 8, 9, },
{8, 9, 8, 9, 8, 9, 9, 9, 9, 9, 9, 9, 8, 9, 9, 9, 9, 9, 8, 9, },
{8, 9, 9, 8, 8, 9, 9, 9, 9, 9, 9, 9, 8, 9, 9, 9, 9, 9, 8, 9, },
{8, 9, 9, 9, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 9, },
{8, 8, 9, 9, 8, 8, 9, 9, 9, 9, 9, 8, 8, 9, 9, 9, 8, 9, 8, 9, },
{8, 9, 8, 9, 8, 9, 8, 9, 9, 9, 8, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
{8, 9, 9, 8, 8, 9, 9, 8, 9, 8, 9, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
{8, 9, 9, 9, 8, 9, 9, 9, 8, 9, 9, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
{8, 9, 9, 8, 8, 9, 9, 8, 9, 8, 9, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
{8, 9, 8, 9, 8, 9, 8, 9, 9, 9, 8, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
{8, 8, 9, 9, 8, 8, 9, 9, 9, 9, 9, 8, 8, 9, 9, 9, 8, 9, 8, 9, },
{8, 9, 9, 9, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 9, 8, 9, },
{8, 9, 9, 8, 8, 9, 9, 9, 9, 9, 9, 9, 8, 9, 9, 9, 9, 9, 8, 9, },
{8, 9, 8, 9, 8, 9, 9, 9, 9, 9, 9, 9, 8, 9, 8, 9, 8, 9, 8, 9, },
{9, 8, 9, 9, 8, 9, 9, 9, 9, 9, 9, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
{8, 9, 9, 9, 8, 9, 9, 9, 9, 9, 9, 9, 8, 8, 8, 8, 8, 9, 8, 9, },
{9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, },
{9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, },
{9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, },};









